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ROS Wrapper for AirDet

A ROS Node package for AirDet.

On PC (Simulation)

Installation

It is necessary to install Detectron2 requirements in a python virtual environment as it requires Python 3.6 and ROS works with Python 2.7

  1. Install ROS Melodic following:

    http://wiki.ros.org/melodic/Installation/Ubuntu

  2. Install python Virtual Environment

sudo apt-get install python-pip
sudo pip install virtualenv
mkdir ~/.virtualenvs
sudo pip install virtualenvwrapper
export WORKON_HOME=~/.virtualenvs
echo '. /usr/local/bin/virtualenvwrapper.sh' >> ~/.bashrc
  1. Creating Virtual Environment
mkvirtualenv --python=python3 detectron2_ros
  1. Install the dependencies in the virtual environment

We use torch==1.5.1 (recommend) and detectron2==0.2

workon detectron2_ros
pip install torch==1.5.1 torchvision==0.6.1
pip install cython pyyaml
pip install -U 'git+https://github.com/cocodataset/cocoapi.git#subdirectory=PythonAPI'
python -m pip install detectron2==0.2 -f \
  https://dl.fbaipublicfiles.com/detectron2/wheels/cu102/torch1.5/index.html
pip install opencv-python
pip install rospkg
pip install fvcore
pip install pillow

Docker

Also, we provide a pre-built docker image here, with the aforementioned libraries installed:

docker pull bowenli1024/airdet-ros:v1

On AGX Xavier (Robot Platform)

Installation

  1. Install ROS Melodic following:

    http://wiki.ros.org/melodic/Installation/Ubuntu

  2. Install python Virtual Environment

    sudo apt-get install python-pip
sudo pip install virtualenv
mkdir ~/.virtualenvs
sudo pip install virtualenvwrapper
export WORKON_HOME=~/.virtualenvs
echo '. /usr/local/bin/virtualenvwrapper.sh' >> ~/.bashrc

  3. Creating Virtual Environment

    mkvirtualenv --python=python3 detectron2_ros

  4. Install dependencies

    workon detectron2_ros
pip install opencv-python
pip install rospkg
pip install fvcore
pip install pillow
    Install pytorch 1.6.0 following:

    https://forums.developer.nvidia.com/t/pytorch-for-jetson-version-1-10-now-available/72048

    first download whl file

    Then run

    sudo apt-get install python3-pip libopenblas-base libopenmpi-dev
pip3 install Cython
pip3 install numpy torch-1.6.0-cp36-cp36m-linux_aarch64.whl
    Install torchvision:
    sudo apt-get install libjpeg-dev zlib1g-dev
git clone --branch v0.7.0 https://github.com/pytorch/vision torchvision
cd torchvision
sudo python3 setup.py install
    Install detectron2 by building source code

    Download source code

    Then extract the compressed file and build the library

    python -m pip install -e detectron2

Downloading the Package

Clone the package to the ROS workspace using git tools. The folder should be:

AirDet_ROS/
   build/
   devel/
   src/
      airdet_ros/

git clone https://github.com/Jaraxxus-Me/airdet_ros.git
mv airdet_ros AirDet_ROS/src/

Compilation

Attention: DO NOT USE the python virtual environment previously built to compile catking packages.
cd ./AirDet_ROS
catkin_make
source $HOME/.bashrc
source devel/setup.bash

Running

  1. First launch ROScore into a terminal.

  2. Next, open a new terminal and use the virtual environment created.

    workon detectron2_ros
cd AirDet_ROS
catkin_make
source devel/setup.bash
roslaunch airdet_ros airdet_ros.launch

    you should see rviz window

    Arguments

    The following arguments can be set on the roslaunch above.

    • input: image topic name
    • detection_threshold: threshold to filter the detection results [0, 1]
    • visualization: True or False to pubish the result like a image
    • model: path to the training model file.

  3. Finally, play a bag

    rosbag play -r 0.5 [record bag].bag